FastDOC uses Gauss-Newton Hessian approximation to create block-sparse positive semidefinite matrices in the differential KKT system, enabling a factor-of-two reduction in factorization complexity and up to 180% empirical speedup over prior auxiliary-system methods for differentiable NMPC.
Differentiable model predictive control on the gpu
2 Pith papers cite this work. Polarity classification is still indexing.
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GPU-SLS computes safe robust nonlinear MPC policies online in ~20 ms for up to 75D systems by reachability-constrained system level synthesis accelerated via custom GPU QP solvers.
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A Gauss-Newton-Induced Structure-Exploiting Algorithm for Differentiable Optimal Control
FastDOC uses Gauss-Newton Hessian approximation to create block-sparse positive semidefinite matrices in the differential KKT system, enabling a factor-of-two reduction in factorization complexity and up to 180% empirical speedup over prior auxiliary-system methods for differentiable NMPC.
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Safe Large-Scale Robust Nonlinear MPC in Milliseconds via Reachability-Constrained System Level Synthesis on the GPU
GPU-SLS computes safe robust nonlinear MPC policies online in ~20 ms for up to 75D systems by reachability-constrained system level synthesis accelerated via custom GPU QP solvers.